| contributor author | Sung Kim, Han | |
| contributor author | Lipkin, Harvey | |
| date accessioned | 2017-05-09T01:10:51Z | |
| date available | 2017-05-09T01:10:51Z | |
| date issued | 2014 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_006_03_031001.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/155743 | |
| description abstract | A simple yet general method determines the stiffness matrix for parallel manipulators with serially connected legs. Link and actuator flexibilities for each leg are modeled by flexibility matrices that are additive. The effect of passive joints is implicitly included using reciprocal screws to yield a leg stiffness matrix that is generally singular. Since the legs act in parallel the leg stiffnesses are additive and yield the manipulator stiffness. The method is applicable to overconstrained, exactly constrained, and underconstrained robots in generic or singular configurations. It is illustrated using the Tricept robot containing a passive constraint leg and an overconstrained translating manipulator. Numerical results are confirmed using commercial structural analysis software. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Stiffness of Parallel Manipulators With Serially Connected Legs | |
| type | Journal Paper | |
| journal volume | 6 | |
| journal issue | 3 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4026333 | |
| journal fristpage | 31001 | |
| journal lastpage | 31001 | |
| identifier eissn | 1942-4310 | |
| tree | Journal of Mechanisms and Robotics:;2014:;volume( 006 ):;issue: 003 | |
| contenttype | Fulltext | |